Pilz PSEN enc sincos/HTL User manual

PSEN enc sincos/HTL
Operating Manual-1005022-EN-01
}PSEN sensor technology

Preface
This document is the original document.
All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made
for the user's internal purposes. Suggestions and comments for improving this documenta-
tion will be gratefully received.
Source code from third-party manufacturers or open source software has been used for
some components. The relevant licence information is available on the Internet on the Pilz
homepage.
Pilz®, PIT®, PMI®, PNOZ®, Primo®, PSEN®, PSS®, PVIS®, SafetyBUS p®,
SafetyEYE®, SafetyNET p®, the spirit of safety® are registered and protected trademarks
of Pilz GmbH & Co. KG in some countries.
SD means Secure Digital

Contents
Operating Manual PSEN enc sincos/HTL Seite 2 von 38
1005022-EN-01
Contents
Contents.................................................................................................................. 2
1 General information ............................................................................................ 4
1.1 Applicability............................................................................................................................. 4
1.2 Abbreviations and terms used................................................................................................ 5
1.3 General functional description................................................................................................ 6
1.3.1 Main features .......................................................................................................... 7
1.3.1.1 PSEN enc sincos 4096 hs, PSEN enc sincos 4096 ss ............................. 7
1.3.1.2 PSEN enc HTL 1024 ss, PSEN enc HTL 1024 hs.................................... 7
1.3.2 Principle of the safety function................................................................................ 7
2 Basic safety information..................................................................................... 8
2.1 Definition of symbols and notes.............................................................................................. 8
2.2 General risks when using the product .................................................................................... 9
2.3 Intended use........................................................................................................................... 10
2.4 Non-intended use ................................................................................................................... 10
2.5 Safety functions of the fail-safe evaluation device.................................................................. 11
2.5.1 Mandatory safety checks / measures ..................................................................... 11
2.6 Warranty and liability .............................................................................................................. 12
2.7 Organizational measures........................................................................................................ 12
2.8 Personnel selection and qualification; basic obligations ........................................................ 12
2.9 Safety information................................................................................................................... 13
3 Transport / Storage ............................................................................................. 15
4 Technical data...................................................................................................... 16
4.1 Safety...................................................................................................................................... 16
4.2 Electrical characteristics......................................................................................................... 17
4.2.1 General ................................................................................................................... 17
4.2.2 Device-specific........................................................................................................ 17
4.3 Ambient conditions ................................................................................................................. 18
4.4 Mechanical characteristics...................................................................................................... 19
4.4.1 Solid shaft ............................................................................................................... 19
4.4.2 Hollow shaft............................................................................................................. 19
5 Mounting .............................................................................................................. 20
5.1 Solid shaft............................................................................................................................... 20
5.1.1 Requirements.......................................................................................................... 20
5.2 Hollow shaft ............................................................................................................................ 22
5.2.1 Requirements.......................................................................................................... 22
6 Installation / Preparation for Commissioning ................................................... 24

Contents
Operating Manual PSEN enc sincos/HTL Seite 3 von 38
1005022-EN-01
6.1 EMC requirements.................................................................................................................. 25
6.2 EMC conform wiring schemes................................................................................................ 26
6.2.1 Connection scheme 1 ............................................................................................. 26
6.2.2 Connection scheme 2 ............................................................................................. 26
6.2.3 Connection scheme 3 ............................................................................................. 27
6.3 Ground connection –measuring system................................................................................ 28
6.5 Cable specification.................................................................................................................. 29
6.6 Permitted cable length............................................................................................................ 30
6.7 Pin assignment ....................................................................................................................... 30
6.7.1 PSEN enc SIN/COS................................................................................................ 30
6.7.2 PSEN enc HTL........................................................................................................ 31
6.8 Connection to evaluation device............................................................................................. 32
6.8.1 Evaluation device PNOZ s30.................................................................................. 32
6.8.2 Evaluation device PNOZ m EF 1/2MM................................................................... 32
6.8.3 Evaluation device PSSu K F EI (CV)...................................................................... 32
7 Incremental interface........................................................................................... 33
7.1 Analogue incremental signals (SIN/COS) .............................................................................. 34
7.2 Square-wave incremental signals (HTL) ................................................................................ 35
8 Checklist............................................................................................................... 36
9
Bestelldaten............................................................................................................ Fe
hler! Textmarke nicht definiert.
9.1 Measuring System.................................................................................................................. 37
9.2 Accessories............................................................................................................................. 37
10 EC declaration of conformity............................................................................ 38

General information
Operating Manual PSEN enc sincos/HTL Seite 4 von 38
1005022-EN-01
1 General information
This operating manual contains the following topics:
●General functional description
●Basic safety information with declaration of the intended use
●Characteristics
●Mounting
●Installation/Commissioning
●Error causes and remedies
This document is intended for instruction. Only install and commission the product if you
have read and understood this document. The document should be retained for future
reference.
1.1 Applicability
This documentation is valid for the products:
●PSEN enc sincos 4096 hs
●PSEN enc sincos 4096 ss
●PSEN enc HTL 1024 ss
●PSEN enc HTL 1024 hs
It is valid until new documentation is published.

General information
Operating Manual PSEN enc sincos/HTL Seite 5 von 38
1005022-EN-01
1.2 Abbreviations and terms used
DCavg
Diagnostic Coverage
Average diagnostic coverage
ESD
Electro Static Discharge
EU
European Union
EMC
ElectroMagnetic Compatibility
Functional
safety
(FS)
Part of the overall system safety, which depends on the correct functioning of safety-
related systems for risk reduction. Functional safety is ensured when each safety
function is executed as specified.
Fault
exclusion
Compromise between the technical safety requirements and the theoretical possibility of
an error occurring
HTL
High-Threshold-Logic
IEC
International Electrotechnical Commission
IEEE
Institute of Electrical and Electronics Engineers
ISO
International Standard Organization
MTTFd
Mean Time ToFailure (dangerous)
Mean time until dangerous failure
PFDav
Average Probability of Failure on Demand
Average probability of failure of a safety function with low demand
PFH
Probability of Failure per Hour
Operating mode with high requirement rate or continuous demand. Probability of
dangerous failure per hour.
PFHD
Probability of a dangerous Failure per Hour
Average probability of a dangerous failure per hour according to ISO 13849-1.
PL
Performance Level, according to ISO 13849-1: Discrete level, which specifies the
capability of safety-related parts of a control to execute a safety function under
foreseeable conditions.
SIL
Safety Integrity Level, according to IEC 62061: Four discrete levels (SIL1 to SIL4). The
higher the SIL of a safety-related system, the lower the probability that the system cannot
execute the required safety functions.
SIS
Safety Instrumented System: is used to protect a dangerous process and reduce the risk
of an accident. Process instruments are a constituent of a Safety Instrumented System.
This comprises the essential components of a complete safety-relevant process unit:
Sensor, fail-safe processing unit (control, evaluation device) and actuator
STP
Shielded Twisted Pair
VDE
Verband der Elektrotechnik, Elektronik und Informationstechnik (Association for
Electrical, Electronic and Information Technologies)
Repeat test
(proof test)
Repetitive test to detect hidden dangerous failures in a safety-related system.

General information
Operating Manual PSEN enc sincos/HTL Seite 6 von 38
1005022-EN-01
1.3 General functional description
The rotary measuring system is a safe and incremental position measuring system.
The measuring system has been designed so that it can be used in systems which
require the following safety functions according to EN 61800-5-2:
●Safe Direction (SDI)
●Safe Stop 1 (SS1)
●Safe Stop 2 (SS2)
●Safe Operating Stop (SOS)
●Safely Limited Speed (SLS)
●Safe Speed Range (SSR)
●Safe Speed Monitor (SSM)
●Safely-Limited Acceleration (SLA)
●Safe Acceleration Range (SAR)
●Safely-Limited Position (SLP)
●Safely-Limited Increment (SLI)
●Safe Cam (SCA)
The measuring system as a sensor is always part of a safety chain.
The following shaft designs can be used for the mechanical coupling:
●Solid shaft
●Hollow shaft
Depending on the safety functions safety-related differences arise:
●SIL3/PLe/Cat.3, in conjunction with velocity oriented safety functions
●SIL2/PLd/Cat.3, in conjunction with positioning oriented safety functions

General information
Operating Manual PSEN enc sincos/HTL Seite 7 von 38
1005022-EN-01
1.3.1 Main features
The entire system electronics has a discrete design. Neither microcontrollers nor
programmable logic elements are contained in the system electronics. There is no
interpolation or signal multiplexing. All signal lines are led separately within the
electronics.
1.3.1.1 PSEN enc sincos 4096 hs, PSEN enc sincos 4096 ss
Incremental interface with sinusoidal output signals A, /A, B, /B, Z, /Z; output level
1 Vss.
The safety-evaluated measuring system is designed for the implementation of safety-
related functions in relation to speed and direction of rotation. In the downstream fail-
safe evaluation device an ideal error detection also occurs through evaluation of the
magnitude “SIN(x)2+ COS(x)2= 1”.
The Z-, /Z-signals are not evaluated from a safety viewpoint and may not be used for
safety-oriented purposes.
1.3.1.2 PSEN enc HTL 1024 ss, PSEN enc HTL 1024 hs
Incremental interface with digital square-wave output signals A, /A, B, /B, Z, /Z; output
level in HTL logic.
The safety-evaluated measuring system is designed for the implementation of safety-
related functions in relation to speed and direction of rotation.
An internal signal monitor constantly checks the magnitude
"SIN(x)2+ COS(x)2= 1". Safety-relevant errors are indicated by switching of the signal
outputs to high impedance. The Z-, /Z-signals are not evaluated from a safety viewpoint
and may not be used for safety-oriented purposes.
1.3.2 Principle of the safety function
System safety results when:
–the scanning channel is single fault safe thanks to its own diagnostic
measures and circuit measures
–the evaluation device checks that the received incremental data meet the
expected tolerance window according to the application.
–for PSEN enc sincos the evaluation device also checks the magnitude
SIN(x)2+ COS(x)2= 1; if the result is outside the tolerance range, the
incremental data must be evaluated as unsafe. In this way the control
achieves an ideal error detection.
–when errors are detected the evaluation device introduces appropriate
safety measures defined by the system manufacturer
–the system manufacturer ensures, through correct mounting of the
measuring system, that the measuring system is always driven by the axis
to be measured and is not overloaded. A fault exclusion is required for
mounting the measuring system to the drive function.
–the system manufacturer carries out a proven test during commissioning
–the downstream fail-safe evaluation device evaluates the measuring system
differentially

Basic safety information
Operating Manual PSEN enc sincos/HTL Seite 8 von 38
1005022-EN-01
2 Basic safety information
2.1 Definition of symbols and notes
DANGER!
This warning must be heeded! It warns of a hazardous situation
that poses an immediate threat of serious injury and death and
indicates preventive measures that can be taken.
WARNING!
This warning must be heeded! It warns of a hazardous situation
that could lead to serious injury and death and indicates
preventive measures that can be taken.
CAUTION!
This refers to a hazard that can lead to a less serious or minor
injury plus material damage, and also provides information on
preventive measures that can be taken.
NOTICE!
This describes a situation in which the product or devices could
be damaged and also provides information on preventive
measures that can be taken. It also highlights areas within the
text that are of particular importance.
indicates important information or features and application tips
for the product used.
means that appropriate protective measures against ESD
according to DIN EN 61340 5-1 Supplement 1 must be applied.

Basic safety information
Operating Manual PSEN enc sincos/HTL Seite 9 von 38
1005022-EN-01
2.2 General risks when using the product
The product, hereinafter referred to as the measuring system, is manufactured
according to state-of-the-art technology and accepted safety rules. Nevertheless,
non-intended use can pose a danger to life and limb of the user or third parties,
or lead to impairment of the measuring system or other property!
Only use the measuring system in perfect technical condition, paying attention to safety
and dangers, and in compliance with the operating manual! Faults which could
threaten safety should be eliminated without delay!